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#ifndef RVIZ_DEFAULT_PLUGINS__POINTCLOUD_MESSAGES_HPP_
#define RVIZ_DEFAULT_PLUGINS__POINTCLOUD_MESSAGES_HPP_

#include <string>
#include <vector>

#include "sensor_msgs/msg/point_cloud2.hpp"
#include "sensor_msgs/msg/point_cloud.hpp"

namespace rviz_default_plugins
{

struct Point
{
  float x, y, z;
  Point(float x, float y, float z)
  : x(x), y(y), z(z) {}
};

struct PointWithIntensity : Point
{
  float intensity;
  PointWithIntensity(float x, float y, float z, float intensity)
  : Point(x, y, z), intensity(intensity) {}
};

struct ColoredPoint : Point
{
  float r, g, b;
  ColoredPoint(float x, float y, float z, float r, float g, float b)
  : Point(x, y, z), r(r), g(g), b(b) {}
};

sensor_msgs::msg::PointCloud::ConstSharedPtr createPointCloudWithSquare();
sensor_msgs::msg::PointCloud::ConstSharedPtr createPointCloudWithPoints(std::vector<Point> points);

sensor_msgs::msg::PointCloud2::ConstSharedPtr createPointCloud2WithSquare();
sensor_msgs::msg::PointCloud2::SharedPtr createPointCloud2WithPoints(
  const std::vector<Point> & points);
sensor_msgs::msg::PointCloud2::ConstSharedPtr createF32ColoredPointCloud2(
  const std::vector<ColoredPoint> & points);
sensor_msgs::msg::PointCloud2::ConstSharedPtr create8BitColoredPointCloud2(
  const std::vector<ColoredPoint> & points);
sensor_msgs::msg::PointCloud2::ConstSharedPtr createPointCloud2WithIntensity(
  const std::vector<PointWithIntensity> & points);

}  // namespace rviz_default_plugins

#endif  // RVIZ_DEFAULT_PLUGINS__POINTCLOUD_MESSAGES_HPP_
